Precise orbit determination for geostationary satellites with multiple tracking techniques

A new precise orbit determination (POD) strategy based on the combination of satellite laser ranging (SLR) and C-band transfer ranging for geostationary satellites (GEO) is presented.Two approaches to calibrate ranging biases of the C-band ranging system are proposed,namely the two tracking system co-location comparison and the combined POD method,with calibration accuracies estimated to be 0.5 ns and 1 ns respectively.Using data from a C-band tracking network in China,POD experiments indicate that meter-le...     

Variation of satellite transponder delay

For precise orbit determination of geosynchronous earth orbit(GEO)satellites using transfer ranging observations,it is generally assumed that the variation of the satellite transponder delay is very small and that it can be solved as a constant parameter together with satellite orbit parameters.However,this assumption is too general and it reduces the accuracy of orbit determination for GEO satellites.To study and analyse the impact of the satellite transponder delay on GEO satellites orbit determination,two schemes were proposed.First,the satellite transponder delay was eliminated by forming single-difference observations between two ground stations;second,the satellite transponder delay was described as a constant parameter.The preliminary results demonstrate a difference of about1–2 m between the two schemes when used for precise orbit determination of GEO satellites.By fixing the GEO satellite orbit and other relevant parameters estimated by single-difference model,we inversed the instantaneous transponder delay from non-difference observation.It was found that the satellite transponder delay has a distinct diurnal variation,with an amplitude of 3–4 m.The findings of this paper are helpful in establishing an accurate model of satellite transponder delay and in improving the accuracy of GEO satellites orbit determinations and predictions.     

Mars Express tracking and orbit determination trials with Chinese VLBI network

With strong support from European Space Agency (ESA), Shanghai Astronomical Observatory (SHAO) organized a tracking and orbit determination trails using Chinese VLBI Network (CVN) to track Mars Express, the first Mars probe launched by ESA. Using a high-resolution VLBI software correlator and Doppler measurement system developed in-house, two sets of tracking data, VLBI and Doppler, were acquired. The trials represent the first successful foray held in China to track a probe about 360 million kilometers away from the Earth. The tracking data are analyzed using a Mars satellite orbit determination software system developed at SHAO. The results show that the accuracy of 5 s integrated three-way-Doppler data is about 0.3 mm/s, or roughly the same accuracy as ESA’s tracking data. Position discrepancies between the Doppler-based orbit solution of 8 h arc-length (about 1 orbital revolution) and ESA’s reconstructed orbit are of the order of several hundred meters. In preparing for the Russia-China co-sponsored Mars exploration mission Phobos-Grunt-YingHuo, simulations were carried out to evaluate the achievable orbital accuracy levels and the contributions of VLBI and Doppler data respectively. Results show that Doppler data provide better orbit accuracy, so that for VLBI to be able to provide kilometer level orbit solutions, the accuracy of VLBI measurement needs to be improved by at least one order of magnitude.     

GEO导航卫星多种观测资料联合精密定轨

针对跟踪站少、观测几何条件差以及轨道机动后GEO导航卫星精密定轨问题,提出了用激光观测数据解算无线电测距离观测数据设备时延、用CODE模型参数和多频载波相位数据进行电离层延迟精确修正的精密定轨和轨道快速恢复的处理体制.通过在轨实测数据实验证明,利用激光标定的距离观测数据组合设备时延精度优于1ns;基于3站观测数据GEO卫星精密定轨结果,RMS为0.25m;24h数据定轨结果重叠12小轨道径向互差0.55m,位置互差约1.62m;预报12h轨道重叠弧段互差为径向3.63m,位置互差8.51m;定轨结果与激光比对残差约0.10m,预报2h轨道比对残差约0.18m,预报24h轨道比对残差约2.04m.GEO卫星轨道机动后2～3h,动力学定轨结果能够恢复到与激光比对残差小于1m、与精密定轨结果比对位置互差约30m的水平.试验及分析结果表明,所提出的GEO精度定轨技术方案可靠、稳定.     

Determination of the controlled landing trajectory of Chang’E-1 satellite and the coordinate analysis of the landing point on the Moon

Based on the tracking observations of radio ranges and VLBI delays of Chang’E-1 (CE-1) satellite during the controlled landing on the Moon on March 1, 2009, the landing trajectory and the coordinates of the landing point are determined by positioning analysis. It is shown that the landing epoch (the emission epoch of the last signal) of CE-1 satellite on the Moon was at UTC8h13m6.51s. The lunar longitude, latitude and surface height of the landing point in the lunar primary axes frame are respectively 52.27...     

地球静止轨道卫星数对广域增强系统性能的影响

为了评估广域增强系统(wide area augmentation system,WAAS)中地球静止轨道(geostationary earth orbit,GEO)卫星数对WAAS性能的影响,正确解码WAAS报文,对比分析GEO卫星和全球定位系统(global positioning system,GPS)卫星的伪距改正值和用户差分距离误差指数;将GEO卫星纳入导航定位解算,并基于WAAS监测站实测数据,解算分析GEO卫星数对WAAS报文延迟、中断和导航性能的影响.结果表明:当现有GPS卫星均正常工作时,GEO卫星数的增加可有效降低报文的延迟和中断,但对WAAS定位精度和完好性的提升并不明显.星基增强系统(satellite-based augmentation system,SBAS)中有两颗正常工作的GEO卫星是比较理想的状况.     

基于高/低轨监视平台的GEO卫星定轨精度比较

针对传统地基监视系统对地球同步轨道(GEO)卫星静地测量模式不利于获取其态势信息,而空间目标监视平台利用其快速轨道运动、增强观测几何强度和GEO卫星动力学模型的约束作用,有利于对GEO卫星环带的跟踪、监视和编目处理这一问题,分析了高、低轨平台与其观测模式,采用了数值微分法计算变分方程系数阵的定轨算法,统计了光学观测误差对定轨结果的影响.仿真计算表明,高、低轨平台对GEO卫星的定轨精度均在公里级,低轨平台对GEO卫星的定轨精度好于高轨监视平台,观测系统误差是定轨误差的主要来源.     

北斗高精度相对定位选星方法研究

针对北斗系统中高轨卫星会带来较全球定位系统（global positioning system ,GPS）更为严重的法方程病态性这一问题,分析了双差载波相位观测方程系数矩阵对整周模糊度浮点解解算的影响,结合北斗系统三轨道星座混合的特点,研究了区域北斗高精度相对定位选星方法,以仰角最高的地球同步轨道（geostationary earth orbit, GEO）卫星作为参考星,优先选取仰角高于10°的中地球轨道（medium earth orbit,MEO）卫星,然后按照均匀分布的原则选取倾斜地球同步轨道（inclined geosynchronous satellite orbit,IGSO）卫星。通过对实测数据进行试验和分析,证明了该方法的正确性和合理性,在进行区域北斗高精度相对定位时,能在一定程度上改善法方程的病态性,使模糊度浮点解较快收敛至真值附近,有利于模糊度的快速正确固定。     

Satellite orbit determination combining C-band ranging and differenced ranges by transfer

The constraint in the transverse direction of satellite orbit with differenced ranges between master station and slave stations by transfer as an angular observation data is explained in theory. Differenced ranges in combination with C-band ranging by transfer were used in satellite orbit determination. The position error of overlapped orbit differences for combining is less than that for ranging only. The residual of predicted orbit forward 5.5 days for combining is 3.1762 m, while the residual for ranging only with the same duration is 3.5380 m. Both the orbital overlapping and orbit prediction experimentations can testify the constraint in the transverse direction of satellite orbit with differenced ranges, and the results show that the accuracy of orbit determination and orbit prediction is improved by combining differenced ranges and C-band ranging.     

北斗GEO卫星微动条件下的GNSS-R土壤湿度反演

全球定位系统GPS发射的L波段导航信号源已被用于估测地球表面的土壤湿度,但由于卫星具有一定的重返周期,所以对固定区域土壤湿度反演的性能受到不断变化的星下点轨迹的限制。北斗GEO（geostationary earth orbit）卫星是地球静止轨道卫星,同时又存在着周期性的微动,利用它的反射信号来反演土壤湿度受到其微动特性的影响。针对这个问题,本文研究了利用GEO卫星反射信号功率进行固定区域内土壤湿度反演的可行性。本文首先分析了GEO卫星的微动特征和反射区域的变化;然后采用包络提取和三次多项式插值的方法来恢复SNR的趋势变化规律,以消除因为GEO卫星轻微运动带来的周期性波动和噪声,并且根据现场收集的部分实验数据确定的校准参数值对反射系数进行校正;最后,我们使用测试数据进行土壤湿度反演,得到每半小时固定区域的连续土壤湿度反演值。结果表明,土壤湿度反演值与原位土壤湿度值的变化趋势基本一致,反演的平均绝对误差小于4.63％。可见,BDS GEO卫星信号可以作为GNSS反射计的重要数据来源。     

Preliminary results of TiO<Subscript>2</Subscript> mapping using Imaging Interferometer data from Chang’E-1

The distribution of titanium abundance on the lunar surface is important knowledge for lunar geologic studies and future resource utilization.In this paper,we develop a preliminary model based on"ground truths"from Apollo and Luna sample-return sites to produce a titanium abundance map from Chang’E-1 Imaging Interferometer(IIM) images.The derived TiO2 abundances are validated with Clementine UVVIS results in several regions,including lunar highlands neighboring the Apollo 16 landing site,and high-Ti and low-Ti maria near the standard site of Mare Serenitatis(MS2) .The validation results show that TiO2 abundances modeled with Chang’E-1 IIM data are overestimated for highlands(～0.7 wt.%) and low-Ti maria(～1.5 wt.%) and underestimated for high-Ti maria(～0.8 wt.%).     

卫星编队飞行指向跟踪姿态控制

卫星编队飞行的应用之一是受控卫星在目标卫星、空间站、载人飞船周围以“编队飞行”的形式相伴飞行,对目标进行观测或者执行更多的操作。该文研究这种应用中的姿态控制问题。假设两个飞行器的轨道信息已知,由轨道信息确定实现姿态跟踪调节所需的一种可能的期望姿态,给出了解析表达式,包括姿态角、姿态角速度及角加速度。采用基于四元数的控制律,用3个动量轮实现了卫星长时间、大角度姿态跟踪机动。仿真结果显示,在超过一个周期的仿真时间内,姿态及姿态角速度与期望姿态的吻合程度比较好,而且力矩的花费也不是太大。     

Orbit determination of Chang’E-3 and positioning of the lander and the rover

Chang’E-3 landed on the east of Sinus Iridum area on December 14, 2013, performing China’s first successful soft landing on the lunar surface. We present the results on precision orbit determination and positioning of the lander and the rover. We describe the data, modeling, and methods used to achieve position knowledge over the period December 2–21, 2014. In addition to the radiometric X-band range and Doppler tracking data, delta differential one-way ranging data are also used in the calculation, which show that they strongly improve the accuracy of the orbit reconstruction. Total position overlap differences are about 20 and 30 m for the 100 km × 100 km and 100 km× 15 km lunar orbit, respectively, increased by ~50 % with respect to CE-2 and at the same level as other lunar spacecrafts of recent era such as SELENE and lunar reconnaissance orbiter (LRO). The position error of the soft landing trajectory is less than 100 m. A kinematic statistical method is applied to determine the position of the lander and relative position of the rover with respect to the lander. The position difference of the lander is better than 50 m compared to LRO photograph result. Compared with the delta very long baseline interferometry (VLBI) group delay between the lander and the rover, the delta VLBI phase delay can improve the relative position of the rover from ~1,000 to ~1 m.     

基于拥塞避免的卫星网络路由算法

提出一种基于低轨道和静止轨道星座的双层网络新路由算法, 利用低轨道卫星及其星间链路构成的网状拓扑对星上路由进行计算, 并通过拥塞避免和数据包分类机制进行优化, 解决了卫星网络中由于业务流量大而导致的网络拥塞问题. 仿真结果表明, 该方法降低了网络平均端到端的时延和平均丢包率, 从而提高了网络性能.     

北斗导航卫星氢原子钟性能分析评估

星载原子钟是导航卫星最重要的载荷之一,负责星上时间基准的产生和维持.我国北斗三号导航试验卫星首次配置了23 kg级被动型星载氢原子钟,验证了氢原子钟的空间环境适应性和在轨性能,实现在轨运行误差小于1 ns/d.在北斗三号全球导航卫星系统中,氢原子钟已作为主钟应用至GEO,IGSO和MEO三类导航卫星,对系统的运行发挥至关重要的作用.本文从氢原子钟的机理和性能评估方法出发,比较了铷钟、铯钟和氢钟三类原子钟的性能差异,根据地面和在轨测试数据,给出氢原子钟在轨运行性能评估结果;最后利用卫星遥测数据建模,对氢原子钟健康状况和寿命进行了初步分析.     

全球导航星座的远地/深空导航应用研究

全球卫星导航系统为低轨和地面用户提供导航服务已有广泛的研究.中高轨卫星以及深空卫星的定轨、定姿和时间同步,目前主要利用地面测控系统完成,存在设备复杂、投资高、无法同时支持大量飞行器、无法自主运行等缺点.本文研究中高轨卫星和深空卫星利用全球导航星座进行定轨、定姿和授时服务的可行性,实现其扩展应用,寻求全球导航星座作为天基网时空基准的高效途径,使得天基网的自主导航与自主运行成为可能.论文提供了一套解决方案,在不增加卫星设备的前提下,通过星间链路的巧妙设计,实现对远地、深空飞行器的无源导航服务,重点研究了卫星可见性、几何精度因子（GDOP）等内容,进行了定位、定时精度分析,为全球导航星座的建设提供思路.     

北斗三号GEO卫星的RDSS定轨精度分析

有源服务模式RDSS(Radio Determination Satellite Service)所具备的通信、导航一体化特性是我国北斗卫星导航系统的重要特色之一.为进一步提高RDSS的通信服务能力,并保障RDSS服务系统的健壮性,北斗三号RDSS服务从系统架构到信号体制都进行了很大改进.本文首先分析了新的信号体制下,RDSS测距在测量模型和观测噪声等方面的误差特性,并比较了其与原有信号体制的不同.为了避免在RNSS(Radio Navigation Satellite Service)载荷故障时RDSS不能正常提供导航服务的情况发生,RDSS系统需要能够仅利用RDSS测距完成GEO测轨,以此作为原有RNSS测轨的备份保障.文章进一步分析了这种情况下,仅利用RDSS测距进行GEO定轨的精度.通过实测数据分析,我们发现其精度可优于10 m,利用该轨道信息的定位、定时精度可以满足服务指标要求.     

北斗二号/三号融合的分米级星基增强算法与性能分析

北斗卫星导航系统星基增强服务通过地球静止卫星向用户播发等效钟差、轨道改正数、电离层格网改正数和分区综合改正数等四重广域差分改正数,用户在此基础上利用载波相位观测值实现实时分米级的定位性能.本文介绍了分米级星基增强服务的参数匹配算法以及单频、双频用户精密定位模型.将系统播发的四重差分改正数应用于北斗二号与三号融合的精密单点定位,分析了不同频点及定位模型的系统精密定位服务性能.18个测站7 d的结果表明:北斗二号/三号融合的星基增强服务双频组合动态精密单点定位平均12.42 min收敛至0.5 m以内,收敛后的平均定位精度为平面0.15 m,高程0.2 m;相比仅使用北斗二号系统,不同定位模型收敛时间平均缩短了56.7%;而基于非差非组合的分区定位收敛速度更快,并且能达到与无电离层组合模型相同的精度水平.使用北斗电离层格网信息改正的单频动态定位PPP平均11.74 min收敛至0.8 m以内,收敛后的平均定位精度为平面0.2 m,高程0.3 m;相比使用广播星历电离层模型改正的结果,静态和动态定位平均收敛时间分别缩减了21.4%和25.2%.     

GNSS autonomous navigation method for HEO spacecraft

For global navigation satellite system(GNSS) in the application of high earth orbit(HEO) determination, there are problems such as small number of visible satellites and weak signal magnitude. The transmitting and receiving errors of GNSS signal in the environment of HEO space are analyzed, and related compensating scheme is also proposed. Acquisition of GNSS signal is implemented by using weak signal acquisition technology based on Duffing. Precise tracking of weak GNSS signal is also realized by adopting dynamic detection and compensation technology based on Duffing chaotic oscillator. Simulation results show that, certain acquisition sensitivity and navigation precision can be reached, and the acquisition and tracking of weak GNSS signal can be realized by using the proposed technology, which provides good technology support for autonomous navigation of HEO and large elliptical spacecrafts.     

北斗卫星整网集中式自主定轨算法研究

由于分布式定轨算法只能得到局部次优解,为进一步提升北斗卫星自主导航算法精度,对北斗卫星整网 集中式定轨算法在轨实现方法进行研究。设计了基于推广卡尔曼滤波算法的整网集中式定轨算法及其在轨实 现流程,并利用北斗卫星上的龙芯1E300 处理器对算法精度及工程可行性进行了评估。仿真结果表明,整网集 中式算法精度优于分布式导航算法。且通过在龙芯1E300 处理器上仿真验证可知,集中式导航算法已具备星 上使用条件。